EP3715050A1 - Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif - Google Patents

Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif Download PDF

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Publication number
EP3715050A1
EP3715050A1 EP19166207.1A EP19166207A EP3715050A1 EP 3715050 A1 EP3715050 A1 EP 3715050A1 EP 19166207 A EP19166207 A EP 19166207A EP 3715050 A1 EP3715050 A1 EP 3715050A1
Authority
EP
European Patent Office
Prior art keywords
damping
rotation
damping elements
axes
vibrations
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19166207.1A
Other languages
German (de)
English (en)
Inventor
Andreas KLOTZEK
Dietmar Stoiber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP19166207.1A priority Critical patent/EP3715050A1/fr
Priority to PCT/EP2020/054822 priority patent/WO2020200587A1/fr
Publication of EP3715050A1 publication Critical patent/EP3715050A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
    • B23Q11/0035—Arrangements for preventing or isolating vibrations in parts of the machine by adding or adjusting a mass, e.g. counterweights
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49048—Control of damping of vibration of machine base
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49054—Active damping of tool vibration

Definitions

  • the invention relates to a device and a method for actively damping vibrations of at least one machine element.
  • the invention also relates to a machine tool device with at least one such device and with at least one machine tool.
  • machines tend to vibrate during their operation, in particular when the respective machine generally has components which move relative to one another or are moved relative to one another during operation.
  • machines that are used for heavy-duty machining and / or other machining operations can vibrate heavily during operation. Strong vibrations occur above all in machines, in particular machine tools, which have a high level of dynamic compliance. Such strong vibrations can lead to undesirable and unpleasant noises. Chattering is understood to mean an unstable or sometimes also borderline stable machining process. The unstable process can lead to the destruction of tools and poor quality of the machined workpiece. The process can then not be run in this operating point.
  • a common countermeasure is a reduction in performance, for example through lower feed rates or lower cutting depth.
  • vibrations can lead to instability of a desired process to be carried out with the respective machine, and these excessive vibrations can limit the performance of the respective machine.
  • Relevant oscillation shapes can, in particular depending on Machine structure, axial or in several dimensions and thus, for example, two-dimensional. A typical example of this are axes that can be extended far into a machining area. These often have a circular shape at their end effector, in particular at their TCP (TCP - Tool Center Point).
  • TCP TCP - Tool Center Point
  • Axial is understood in particular to mean the dimension in or along which the vibrations occur or take place coincides with a movable axis of the machine tool.
  • the vibrations in the course of the process i.e. in the course of machining the respective workpiece, can change in direction and amplitude, for example due to changes in the machining direction.
  • the object of the present invention is therefore to create a device, a method and a machine tool device so that vibrations of at least one machine element, in particular a machine, can be dampened in a particularly advantageous manner.
  • a first aspect of the invention relates to a device for active damping of vibrations of at least one machine element, in particular a machine such as a machine tool or another machine.
  • the device can be used to actively dampen multidimensional oscillations, in particular two-dimensional oscillations, the two-dimensional oscillations also being referred to as 2D oscillations.
  • Such two-dimensional vibrations can be understood to mean vibrations which occur or run along a first axis or first direction and along a second axis or second direction. The directions or the axes run perpendicular to one another, in particular in space, for example.
  • One of the axes is, for example, a first axis of the machine tool, also referred to as the first machine axis, the second axis being, for example, a second axis of the machine tool, also referred to as the second machine axis.
  • the machine tool comprises, for example, a tool for machining a workpiece, wherein the tool can be moved along the respective machine axis.
  • the device has, in particular at least or precisely, two damping elements rotatable about respective axes of rotation relative to the machine element, each of which has an imbalance.
  • the respective damping element can be designed, for example, as a disk or a damping disk.
  • the respective imbalance is a deliberately or desired provided, that is a deliberately formed imbalance of the respective damping element.
  • the device also comprises a drive device, by means of which the damping elements, in particular actively or specifically or desired, can be driven and thus rotated in opposite directions about the axes of rotation, whereby a force for damping the vibrations can be generated, and the force in a direction perpendicular to the axes of rotation Level acts or runs.
  • the drive device is preferably designed to drive the damping elements, in particular actively or specifically or desired, and thereby rotate them simultaneously and in opposite directions about the axes of rotation, whereby the force acting in the plane perpendicular to the axes of rotation can be generated to dampen the vibrations.
  • the two damping elements can be rotatable independently, it being advantageous to operate the damping elements in a coupled movement or rotation.
  • the device also includes an adjusting device by means of which the damping elements can be phase-adjusted relative to one another, as a result of which an effective direction of the force extending in the plane can be adjusted.
  • the damping elements can be phase-adjusted relative to one another by means of the adjusting device while the damping elements rotate, whereby the effective direction of the force running in the plane can be adjusted, that is, varied or changed.
  • the damping elements can be adjusted relative to one another in their respective phase, also referred to as the rotational phase, by means of the adjusting device.
  • An adjustment of the phases of the damping elements relative to one another is also referred to as a phase adjustment, which can be brought about by means of the adjusting device.
  • the damping elements are adjusted in their phases relative to one another by means of the adjusting device, for example, in such a way that the adjusting device causes one of the damping elements to be rotated at least or exclusively temporarily around the axis of rotation at a different rotational acceleration or at a different rotational speed or rotational speed than the other damping element.
  • damping elements can be rotated or rotated in opposite directions can in particular be understood as meaning that the damping elements can be driven or rotated in a nonsensical or mirror-inverted manner to one another.
  • one of the damping elements can be rotated or is rotated in a first direction of rotation with respect to a direction of view of the one damping element, while the other damping element is or is rotatable with respect to the same direction of view in a second rotation device opposite to the first rotation device is rotated.
  • damping elements can be rotated or rotated in opposite directions to one another
  • the damping elements formed for example as disks, in particular as turntables are moved or rotated in such a way that a first rotational acceleration of one of the damping elements, in particular always, occurs or runs in mirror image or in the opposite direction to a second rotational acceleration of the other damping element.
  • the first rotational acceleration and the second rotational acceleration can, for example, in particular depending on the design of the damping elements or the imbalances, be the same in terms of amount, but have different directions, in particular directions of rotation.
  • ⁇ U 2 / U 1
  • the respective damping element is rotated with a non-constant or with a varying rotational speed, the respective damping element preferably being rotated with a rotational acceleration.
  • a rotation or rotational movement of the respective damping element or the fact that the respective damping element is rotated does not necessarily have to be understood as one or more complete revolutions of the respective damping element, but it is conceivable that the damping element by less than 360 degrees, i.e. one opposite Is rotated 360 degrees smaller angle of rotation and / or, in particular in each case by less than 360 degrees or by the angle of rotation, is rotated back and forth. Overall, it can be seen that the force can be generated in a certain or any direction.
  • the same force or the same force vector can be generated by different phase positions, that is to say by different alignments of the damping elements relative to one another.
  • the generation of the force is a desired effect in at least almost any phase position of the damping elements can be achieved relative to one another. If, for example, the damping elements are initially in an initial orientation relative to one another, this results in the force and its effective direction.
  • the phase of the damping elements can be adjusted relative to one another, so that the damping elements can be brought into an orientation different from the initial alignment. It is thus possible to set or select the initial alignment, and the alignment of the damping elements and thus the imbalances relative to one another can be changed in the course of a process, should this be advantageous for certain reasons.
  • the respective damping element vibrates while it is rotated, the respective damping element exerts an individual force, also referred to as a damping force, or the respective damping element provides the damping force.
  • the first damping element provides a first damping force
  • the second damping element provides a second damping force.
  • the first damping force and the second damping force act in the plane and can be combined to form a resulting total force, in particular a resulting total damping force, or the first force and the second force result in the aforementioned total force, in particular the aforementioned total damping force.
  • the total damping force is the aforementioned force acting in the plane, which acts against the vibrations of the machine element, whereby the vibrations of the machine element can be damped.
  • the respective vibrations of the damping elements counteract the vibrations of the machine element, whereby the respective vibrations are at least partially canceled out, for example. This means that this dampens the vibrations of the machine element.
  • the possibility of adjusting the phases of the damping elements relative to one another makes it possible to align the total force or the force vector in the plane.
  • the damping elements are rotated, in particular in the same direction.
  • the vibrations of the machine element can be counteracted specifically and effectively.
  • the phase adjustment can in particular mean that the damping elements are rotated relative to one another, in particular in the manner of an, in particular electronic, cam disc.
  • the device according to the invention thus makes it possible to exert or transmit adjustable and thus, for example, controllable or regulatable periodic forces on the machine element, and thereby to dampen the vibrations of the machine element.
  • the respective periodic force which can be transmitted to the machine element is, for example, the total force described above. Since the damping elements move periodically or since the damping elements vibrate when they are rotated around the axis of rotation, in particular completely or only partially and thus less than 360 degrees, the respective force occurs periodically, for example. This means, for example, that the total force occurs periodically, that is, acts periodically and thus oscillates periodically. In particular, the force or the total force oscillates at a frequency which is adjustable, for example.
  • the frequency of the periodic force is less than 100 Hertz.
  • the periodic force in particular the periodic total force, is 30 Hertz or at most 30 Hertz.
  • the forces are set or controlled or regulated, preferably via a control device, in such a way that they counteract disruptive movements of the machine element and thus undesirable effects such as undesirable noises, rattling, vibration, etc.
  • the device does not have its own connection to a foundation on which, for example, the machine comprising the machine element is held or on which the machine stands. It is thus preferably provided that the device is supported on the foundation or stands on the foundation exclusively via the machine. This can avoid undesirable effects.
  • the axes of rotation of the damping elements coincide with one another.
  • the axes of rotation of the damping elements lie on a common overall axis of rotation or the overall axis of rotation forms the axes of rotation of the damping elements.
  • the axes of rotation are spaced from one another and run at least substantially parallel to one another.
  • the device comprises an electronic computing device.
  • the electronic computing device is or forms, for example, the aforementioned control device.
  • the electronic computing device is designed to record the respective speed and / or rotational speed and / or rotational acceleration with which the respective damping element is rotatable or is rotated about the respective axis of rotation.
  • the electronic computing device is designed to effect the one or the phase adjustment of the damping elements and thereby to align the force vector in the plane.
  • the damping elements move or rotate periodically repetitively in the same way, in particular until a change occurs, for example by setting or adjusting the phase relative to one another.
  • the damping elements serve to dampen the machine element. This means that the damping elements react to an upswing movement, particularly with regard to their phase, which dampens the upward movement immediately and the proper movement is therefore only periodic to a limited extent.
  • Another embodiment is characterized in that the electronic computing device is designed to control the drive device and thereby operate it, in particular to control or regulate it.
  • the total force can be adjusted, that is to say varied, in a particularly targeted and needs-based manner, particularly with regard to its line of action and thus the direction of action, and during operation of the device. This can effectively and efficiently dampen the vibration of the machine element.
  • the device has, in particular, at least or precisely one vibration sensor, by means of which vibrations of the machine element running along at least or precisely two axes can be detected and at least one, in particular electrical, signal characterizing the detected vibrations can be provided.
  • the vibration sensor is designed to detect vibrations that run along at least or precisely two axes that run perpendicular to one another. So that is Vibration sensor designed to detect two-dimensional vibrations, that is, 2D vibrations.
  • the electronic computing device is designed to receive the signal provided by the vibration sensor and to control the drive device as a function of the signal. In this way, the vibrations of the machine element can be counteracted specifically and effectively and efficiently.
  • the vibration sensor is designed, for example, as an acceleration sensor or as a speed sensor. In particular, it is provided that the vibration sensor can be fastened or fastened, in particular directly, to the machine element.
  • the electronic computing device is part of the actuating device.
  • the electronic computing device can control the drive device, in particular as a function of the signal, in order to thereby phase-adjust the damping elements relative to one another and / or to set, in particular to control or regulate, the amplitude and / or frequency of the force or the force vector.
  • a first electric motor is assigned to a first of the damping elements, by means of which the first damping element can be driven.
  • a second electric motor, by means of which the second damping element can be driven, is assigned to the second damping element.
  • only the first damping element can be driven by means of the first electric motor.
  • only the second damping element can be driven by means of the second electric motor with respect to the damping elements.
  • the electronic computing device is preferably designed to operate the electric motors to control and thus to operate, in particular to control or regulate.
  • a further embodiment of the invention provides that the electronic computing device is designed to control the electric motors and thereby effect the phase adjustment or a phase adjustment of the damping elements relative to one another .
  • the vibrations of the machine element can be dampened particularly effectively.
  • the phase adjustment can be brought about exclusively by controlling the motors and thus exclusively by controlling or signaling. In this way, for example, the use of additional, separate actuators for phase adjustment can be avoided.
  • the actuating device in particular at least or precisely, has an actuator provided in addition to the drive device, the electronic computing device being designed to control the actuator and thereby effect a phase adjustment of the damping elements relative to one another.
  • a phase adjustment of the damping elements relative to one another can be brought about by means of the actuator, in particular by controlling the actuator.
  • the electronic computing device can bring about a phase adjustment of the damping elements relative to one another, in that the electronic computing device controls the actuator and thereby operates it. This allows the phases to be set precisely.
  • the Drive device in particular precisely, comprises an electric motor common to the damping elements for driving the or both damping elements.
  • the one electric motor has a stator and a rotor which can be driven by the stator and thus rotatable about a motor axis of rotation relative to the stator. If the axes of rotation of the damping elements coincide, it is preferably provided that the motor axis of rotation coincides with the axes of rotation of the damping elements, so that the electric motor or its rotor is arranged coaxially to the damping elements, the damping elements being arranged coaxially to one another.
  • One of the damping elements is non-rotatably connected to the stator and the other damping element is non-rotatably connected to the rotor.
  • the rotor and the stator in particular in space, can be rotated relative to the machine element about the motor axis of rotation, so that, for example, during operation of the device, both the stator and the rotor are rotatable about the motor axis of rotation relative to the machine element and is rotated in space, for example, in particular in that the stator drives the rotor.
  • This embodiment is based in particular on the following principle and idea:
  • An electric motor also referred to as a motor, which exerts a torque on its rotor and thus, for example, on a shaft of the rotor, inevitably generates, in particular at exactly the same time, a counter-torque, in particular to exactly the same extent that acts on the stator and then, for example, if a rotation of the stator is to stop, is supported or on a stationary component such as the machine element.
  • a composite of the stator and the associated damping element has a first inertia or a first moment of inertia, a composite of the rotor and the other damping element connected to it in a rotationally fixed manner having a second inertia or a second moment of inertia.
  • the first moment of inertia is referred to as T1
  • the second moment of inertia is referred to as T2.
  • stator and the rotor and thus the damping elements are coupled to one another via at least or precisely one return spring, in particular via at least or precisely one torsion spring.
  • a weak return spring, or a return spring designed as a torsion spring can be attached between the rotor and the stator in order to prevent the rotor and the stator from drifting apart undesirably.
  • a second aspect of the invention relates to a machine tool device, also referred to as a machine tool system, which comprises at least one machine tool for, in particular mechanically, machining workpieces.
  • the machine tool device is designed for machining workpieces.
  • the machine tool device also comprises a device, in particular a device according to the invention according to the first aspect of the invention, for actively damping vibrations of at least one machine element of the machine tool.
  • the device has, in particular at least or precisely, two damping elements which are rotatable about respective axes of rotation relative to the machine element and each, in particular at least or precisely, has an imbalance.
  • the device comprises a drive device, by means of which the damping elements can be driven and thus rotated in opposite directions about the axes of rotation, whereby a force acting in a plane perpendicular to the axes of rotation can be generated to dampen the vibrations.
  • the device also includes an adjusting device by means of which the damping elements can be phase-adjusted relative to one another, as a result of which an effective direction of the force extending in the plane can be adjusted.
  • Advantages and advantageous configurations of the first aspect of the invention are to be regarded as advantages and advantageous configurations of the second aspect of the invention and vice versa.
  • the device is at least indirectly, in particular directly, coupled to the machine element, in particular held on the machine element, in particular in such a way that the forces or the aforementioned total force for damping the vibration of the machine element can or is transferable from the device to the machine element.
  • the machine tool is supported, for example, on a foundation, the machine tool, for example, standing on the foundation. It is preferably provided that the device is supported on the foundation exclusively via the machine tool in order, for example, to avoid undesired transmission of static forces.
  • the invention is also intended to include a use of a device according to the invention according to the first aspect of the invention, the device being used to dampen vibrations of a machine element of a machine, in particular a machine tool for, in particular mechanical, machining of workpieces.
  • a third aspect of the invention relates to a method for actively damping vibrations of at least one machine element by means of a device, in particular by means of a device according to the invention according to the first aspect of the invention.
  • two damping elements of the device which are rotatable about respective axes of rotation relative to the machine element and each, in particular at least or precisely, have an imbalance are driven by means of a drive device of the device and thereby rotated in opposite directions about the axes of rotation, whereby a in a force acting perpendicular to the axes of rotation to dampen the vibrations is generated.
  • the damping elements When the damping elements are rotated, for example, they are rotated or rotated by exactly 360 degrees, exclusively by less than 360 degrees or by more than 360 degrees. In doing so, an adjusting device of the device, the damping elements, in particular temporarily, phase-adjusted relative to one another, whereby an effective direction of the force running in the plane is set or adjusted.
  • Advantages and advantageous configurations of the first aspect and the second aspect of the invention are to be regarded as advantages and advantageous configurations of the third aspect of the invention and vice versa.
  • FIG 1 shows a schematic representation of a machine tool device, designated as a whole by 10, for, in particular mechanical, machining of workpieces.
  • the machine tool device 10 also referred to as a machine tool system, comprises at least or precisely one machine tool 12 by means of which the workpieces can be machined, in particular by machining.
  • the machine tool 12 comprises at least one tool 14 and at least one drive 16.
  • the drive 16 By means of the drive 16, relative movements between the respective workpiece to be machined and the tool 14 can be moved, in particular while the tool 14 touches the workpiece, in particular at least temporarily or intermittently .
  • the respective workpiece is processed, in particular by cutting.
  • heavy machining can be carried out by means of the machine tool 12.
  • Machine element 18 of machine tool 12 When machining the respective workpiece - if no appropriate countermeasures are taken - vibrations at least one in FIG 1 Machine element 18 of machine tool 12, shown particularly schematically, occur. In other words, during machining, at least the machine element 18 of the machine tool 12 may vibrate strongly. This can result in undesirable effects such as, for example, undesirable noises, in particular rattling. In addition, the vibrations can undesirably affect and destabilize machining.
  • the machine tool device 10 comprises at least or precisely one device 20.
  • FIG 1 shows a first embodiment of the device 20, by means of which the vibrations of the machine element 18 can be actively and thus can be dampened in a targeted and desired manner.
  • the device 20 has exactly two damping elements 30 and 32 which are rotatable about respective axes of rotation 22 and 24 relative to the machine element 18 and each have an imbalance 26 and 28, which in the present case are designed as disks and are also referred to as rotary disks.
  • the respective unbalance 26 or 28, in particular its respective mass is also referred to as an eccentric mass or unbalanced mass. This can in particular be understood to mean that the respective unbalance 26 or 28 per se has a mass also referred to as an eccentric mass or unbalanced mass.
  • the device 20 also has an in FIG 1 Drive device 34, shown particularly schematically, by means of which the damping elements 30 and 32 can be driven and thus rotated in opposite directions about the axes of rotation 22 and 24, whereby a force acting in a plane perpendicular to the axes of rotation can be generated to dampen the vibrations.
  • the axes of rotation 22 and 24 coincide so that the damping elements 30 and 32 are arranged coaxially to one another.
  • the feature that the damping elements 30 and 32 can be rotated or rotated in opposite directions can in particular be understood as meaning that the damping elements 30 and 32 are rotatable or are rotated counter to one another or in a mirror image. This is in FIG 1 illustrated by arrows 36 and 38.
  • the damping element 30 is rotated by means of the drive device 34 about the axis of rotation 22 or 24 in a first direction of rotation relative to the machine element 18, while the Damping element 32 is rotated by means of drive device 34 about axis of rotation 22 or 24 in a second direction of rotation opposite to the first direction of rotation relative to machine element 18.
  • the respective rotation of the respective damping element 30 or 32 is to be understood as a rotational movement which is carried out by the respective damping element 30 or 32, preferably with a rotational acceleration, that is, at a non-constant rotational speed or rotational speed.
  • the arrow 36 illustrates the first direction of rotation
  • the arrow 38 illustrates the second direction of rotation.
  • the damping elements 30 and 32 are rotated during the operation of the device 20 by means of the drive device 34 with the same rotational acceleration or with different rotational accelerations. For example, during a time interval, the damping elements 30 and 32 are adjusted in their respective phases relative to one another.
  • the device 20 also has an in FIG 1 Control device 40, shown particularly schematically, by means of which the damping elements 30 and 32 can be phase-adjusted relative to one another, whereby a direction of action of the force extending in the plane can be set.
  • the damping elements 30 and 32 are adjusted relative to one another in their respective phases.
  • the rotational acceleration of the damping element 30 is designated, for example, by a1, the rotational acceleration of the damping element 32 or by a2 being designated.
  • the respective rotational acceleration is dependent on the time t, for example.
  • the respective neutral position is to be understood as a zero crossing, also referred to as an angle zero crossing, of a respective periodic rotary movement of the respective turntable or of the respective unbalance 26 or 28.
  • the respective neutral position is to be understood in particular as the rotational position, i.e. the rotational angle position, which is assumed by the imaginary vector V1 or V2 that connects the respective axis of rotation 22 or 24 with the respective unbalance 26 or 28, in particular with its center of gravity.
  • the center of gravity is also referred to as the center of gravity or center of mass.
  • the respective imbalance 26 or 28 leads to a force being transmitted to a respective bearing via which the respective turntable, for example, is mounted on the machine element 18, in particular rotatably.
  • a support of the respective axis of rotation 22 or 24 on or in relation to the machine element 18 can be understood on the bearing.
  • the aforementioned force acts on the machine element 18.
  • the force is perpendicular to the respective position of the respective unbalance 26 or 28.
  • the respective position is to be understood as the respective vector V1 or V2.
  • the acceleration is periodic, it reverses its direction after a short time, so that an angular range within which the respective turntable moves is relatively small.
  • the respective acceleration of the turntables in interaction with the respective unbalance 26 or 28 creates a radial force component F rad ( FIG 2 ) and a tangential force component F tan .
  • the turntables are moved, in particular rotated, in the opposite direction, in particular the direction of rotation, so that the forces add up to a common, resulting force F total , also referred to as the total force.
  • the direction of the resulting force F total is given by the addition of the neutral positions or the vectors V1 and V2 of the unbalances 26 and 28 that define the neutral positions.
  • the line of action of the resulting force F total is perpendicular to the respective connecting line of the neutral positions of the two unbalances 26 and 28.
  • the alignment of the neutral positions of the unbalances can 26 and 28 can be changed accordingly relative to one another. This is done in that the damping elements 30 and 32 are phase-adjusted relative to one another.
  • the force F total is a periodic force, that is to say a periodically acting force which acts with a frequency that can in particular be given or given.
  • the frequency of the force F total is typically in a range below 100 Hertz, in particular in a range around 30 Hertz.
  • FIG 2 shows a second embodiment of the device 20.
  • the axes of rotation 22 and 24 are arranged at a distance from one another and thereby run parallel to one another.
  • the vectors V1 and V2 are denoted by r.
  • the damping element 30 has an in FIG 2
  • the first electric motor 42 shown particularly schematically is assigned, by means of which the damping element 30 can be driven and thereby rotatable about the axis of rotation 22 relative to the machine element 18.
  • a second electric motor 44 which is provided in addition to the electric motor 42, is assigned to the damping element 32, by means of which the damping element 32 can be driven and thereby rotatable about the axis of rotation 24 relative to the machine element 18.
  • the electric motors 42 and 44 are components of the drive device 34.
  • the device 20 has an electronic computing device 46, which is preferably designed to control the drive device 34, in particular the electric motors 42 and 44, and thereby operate it, in particular to control or regulate it.
  • the electronic computing device 46 is part of the actuating device 40, so that the phase adjustment of the damping elements 30 and 32 relative to one another can be effected, in particular automatically, by means of the electronic computing device 46.
  • the device 20 has, for example, an in FIG 1 vibration sensor 48, shown particularly schematically, by means of which vibrations of the machine element 18 can be detected and at least one characterizing the detected vibrations, in particular an electrical signal can be provided.
  • the vibration sensor 48 is designed to detect vibrations of the machine element 18 that run along two axes or directions running perpendicular to one another.
  • the electrical computing device 46 is designed to receive the signal provided by the vibration sensor 48 and to control the drive device 34 as a function of the signal.
  • the electronic computing device 46 is designed to control the electric motors 42 and 44, in particular as a function of the received signal, and thereby the relative phase adjustment of the damping elements 30 and 32 to cause each other.
  • the phase adjustment can be effected, in particular exclusively, by means of control or signaling and thus without additional actuators.
  • the respective electric motor 42 or 44 is designed, for example, as a dynamically controllable or regulatable electric motor.
  • the respective electric motor 42 or 44 can be designed as a reserve motor.
  • the electric motors 42 and 44 which are also simply referred to as motors, are then controlled with an acceleration profile or with a mirror-inverted, oppositely directed acceleration profile in order to bring about the mutually mirror-inverted rotations of the turntables.
  • FIG 3 a third embodiment in which the drive device 34 comprises the electric motor 50 common to the damping elements 30 and 32 for driving the damping elements 30 and 32.
  • the previous and following statements to the electric motors 42 and 44 are easily transmitted to the electric motor 50 and vice versa.
  • the electric motor 50 has a stator 52, which is also referred to as a motor stator.
  • the electric motor 50 has a rotor 54, also referred to as a motor rotor, which can be driven by the stator 52 and thereby rotatable about a motor axis of rotation 55 relative to the stator 52.
  • the motor axis of rotation 55 coincides with the axes of rotation 22 and 24.
  • the damping element 30 is non-rotatably connected to the rotor 54 or is part of the rotor 54, while the damping element 32 is non-rotatably connected to the stator 52 or is part of the stator 52.
  • a first inertia is labeled T1 or J1
  • a second inertia is labeled T2 or J2.
  • the first inertia is, for example, a first rotational inertia or a first moment of inertia
  • the second inertia being, for example, a second rotational inertia or a second moment of inertia.
  • the first inertia is, for example, an inertia of the damping element 30, in particular together with the imbalance 26. It is also conceivable that the first inertia is an inertia of a composite which comprises the rotor 54 and the damping element 30 connected to it in a rotationally fixed manner.
  • the second inertia is, for example, an inertia of the damping element 32.
  • the second inertia can be an inertia of a second composite which comprises the stator 52 and the damping element 32 connected to it in a rotationally fixed manner.
  • FIG 1 and 3 is the aforementioned and in FIG 1 and 3 Bearing denoted by 56 can be seen, via which the damping elements 30 and 32, in particular the device 20, in particular rotatably, is mounted on the machine element 18.
  • the bearing 56 comprises, for example, a first bearing element 58 and a second bearing element 60, the bearing elements 58 and 60 being spaced from one another, for example, in the axial direction and thus along the respective axis of rotation 22 and 24, respectively.
  • the damping elements 30 and 32 in an axial Direction between the bearing elements 58 and 60 are arranged.
  • the respective bearing element 58 or 60 can be, for example, a roller bearing or a plain bearing.
  • the rotor 54 is rotatably mounted on the machine element 18 via the bearing 56 and is held on the machine element 18.
  • FIG 1 a foundation 62 can be seen on which the machine tool 12 is supported, in particular in the vertical direction downwards.
  • the machine tool 12 stands on the foundation 62 and / or is fastened to the foundation 62. It is preferably provided that the device 20 is supported on the foundation 62 exclusively via the machine tool 12.
  • a torque also referred to as drive torque
  • every Newton meter of torque is effective twice, once as drive torque, which acts on rotor 54, and once as counter-torque and thus as a prompt counter-reaction, which acts on stator 52.
  • a small actuator can be attached to the rotor 54, in particular on the rotor shaft 64, or act on the rotor 54, in particular on the rotor shaft 64.
  • This actuator is in FIG 3 shown particularly schematically and denoted by 66.
  • the actuating drive 66 is, for example, part of the actuating device 40 and an actuator provided in addition to the drive device 34 and thus in addition to the electric motor 50, by means of which the phase adjustment of the damping elements 30 and 32 relative to one another can be brought about.
  • the electronic computing device 46 is designed to control the actuator 66, in particular as a function of the signal, and thereby effect a phase adjustment of the damping elements 30 and 32 or of the stator 52 and the rotor 54 relative to one another.
  • the actuator 66 is supported, for example, on the machine element 18 and, if necessary, exerts a pulse, in particular a torque or force pulse, on the rotor 54 or on the damping element 30, so that the neutral positions of the turntables are reversed, in particular once Turn a desired angle further or adjust it relative to one another.
  • a weak return spring embodied as a torsion spring, for example, can be attached between the rotor 54 and the stator 52.
  • This return spring is in FIG 3 shown particularly schematically and denoted by 68. It is off FIG 3 It can be seen that, for example, the rotor 54 and the stator 52 are coupled to one another via the return spring 68.
  • the vibration sensor 48 designed for example as a 2D vibration sensor, is attached to the machine element 18 to be damped.
  • the vibration sensor 48 has at least or precisely two measurement directions running perpendicular to one another, along which the vibration sensor 48 can detect, that is to say measure, vibrations of the machine element 18.
  • a first of the measurement directions is also referred to as the x-direction, while the second measurement direction is also referred to as the y-direction.
  • the measuring directions are preferably perpendicular to one another.
  • the vibration sensor 48 also referred to simply as a sensor, is preferably an acceleration sensor or a speed sensor. It is advantageous if the sensor measures the vibrations of the machine element 18 absolutely in space and not relative to the machine element 18, which is to be damped by means of the device 20, which is also referred to as the unit.
  • the signal which can be provided or provided by the sensor and is formed, for example, as an electrical signal and characterizes the detected vibrations, is also referred to as the vibration signal.
  • the oscillation signal can, in particular theoretically, be broken down into amplitude and phase.
  • the aim of the damping to be brought about by means of the device 20, also referred to as damping unit, can, however, be to minimize the vibration signal, so that a calculation that breaks down the vibration signal into amplitude and phase will not provide a stable signal. for this reason, for example, come from FIG 4 recognizable orientation controller 70 and a damping controller 72 are used.
  • the orientation controller 70 determines from the vibration signal and a respective current orientation of the respective damping element 30 or 32, in particular the respective unbalance 26 or 28, under certain circumstances a required reorientation of the respective damping element 30 or 32, in particular the respective unbalance 26 or 28, for example the vibration signal is divided into a first partial signal and a second partial signal or the sensor provides a first partial signal and a second partial signal.
  • the first partial signal characterizes, for example, vibrations of the machine element 18 that run along a first of the measuring directions and detected by means of the sensor
  • the second partial signal characterizes vibrations of the machine element 18 that run along the second measuring direction and detected by the sensor.
  • the signal provided by the vibration sensor 48 or that of the Vibration sensor 48 provided signals or partial signals are in FIGS 4 and 5 designated by a 2D vibration signal designated 74. Furthermore is off FIGS 4 and 5 It can be seen that, for example, the respective electric motor 42, 44 or 50 is assigned a sensor, also assigned as a transmitter 76 or 78, by means of which a respective rotational position and thus the respective previously mentioned orientation of the respective damping element 30 or 32 and thus the respective unbalance 26 or 28 can be recorded.
  • the respective transmitter 76 or 78 provides a signal 80 or 82, in particular an electrical signal, which characterizes the respective detected orientation.
  • the respective orientation is, for example, a respective rotary position, which is also referred to as the rotary position or angle of rotation of the respective damping element 30 or 32, in particular of the respective unbalance 26 or 28.
  • the orientation controller 70 finds, for example, a required orientation of the device 20, that is to say of the damping elements 30 and 32 relative to one another by itself.
  • the current orientation of the device 20 is known from the sensors 76 and 78, in particular from the signals 80 and 82, the sensors 76 and 78 also being referred to as angle sensors.
  • FIGS 4 and 5 a support device 84, also referred to as a mechanism, can be seen.
  • the electric motors 42 and 44 support their respective torques on or on the mechanics and thus generate a directed force which is used to dampen vibrations.
  • the damping controller 72 specifies, for example, a damping signal 86, in particular a setpoint value for the damping signal 86, to which or which, in particular the electric motors 42 and 44, are regulated.
  • the regulation of the damping signal 86 is, for example, prior art.
  • FIG 4 illustrates, for example, the regulation of the device 20 according to FIG FIG 2 with the two electric motors 42 and 44.
  • FIG 5 illustrates, for example, the regulation of the device 20 according to FIG FIG 3 with the electric motor 50 and the actuating drive 66 embodied, for example, as a further electric motor.
  • the damping signal 86 is applied to both electric motors 42 and 44.
  • the electric motor 44 receives the inverted setpoint, which is shifted by an offset, also referred to as an offset.
  • This offset corresponds, for example, to the alignment of the two unbalances 26 and 28 with respect to one another and is usually not, however, necessarily 180 degrees.
  • the offset does not necessarily have to be constant over time.
  • the angle of rotation detected by means of the respective transmitter 76 or 78 and also referred to as the orientation angle is applied, for example, as an additional setpoint value to the respective controllers 88 and 90 of the electric motors 42 and 44.
  • regulators 88 and 90 for controlling the electric motors 42 and 44 will usually be cascade controllers comprising current, speed and position control, as are common in industry for controlling electrically driven mechanical axes. Besides, it's off FIG 4 It can be seen that the orientation controller 70 specifies a setpoint 92 for the respective orientation of the respective damping element 30 or 32, the electric motors 42 and 44 being regulated to this setpoint 92 by means of the controllers 88 and 90. The offset is also off FIG 4 recognizable and designated there with 49.
  • the damping signal 86 or the setpoint 92 is converted by the electric motor 50, while the setpoint 92 or the orientation signal predetermined by the orientation controller 70 is converted by the actuator 66.
  • the regulation of the orientation of the device 20 and the damping of the vibration of the machine element 18 or the regulation of the damping are separated here.
  • the electric motors 42 and 44 or the electric motor 50 and the actuator 66 each have their own controller 88 or 90 for converting the respective setpoint and for this purpose a respective transmitter 76 or 78, by means of which a respective rotary position and thus the respective orientation of the respective rotor of the respective motor can be detected or is detected.
  • the device 20 enables the generation of a force vector in any direction in a plane perpendicular to the respective axis of rotation 22 or 24, which enables vibration damping and at least or precisely two dimensions, that is, along the axes.
  • a change in the direction of oscillation can be reacted to by continuously realigning the force vector.
  • the force to dampen the vibrations is generated by the rotation of the two turntables.
  • the torques on these two turntables can be controlled so that the entire system of the two disks is torque-free.
  • a cable bushing could be provided through the respective axis of rotation 22 or 24 of the turntables or rotary motors.
  • the rotating turntables or motors can be designed to rotate endlessly. As a result, there is no need for end stops and there is no limit to the amplitude of movement that occurs with linear motors.
  • the aim is to have as symmetrical a structure as possible for the two motors and the two damping elements 30 and 32, which are designed as break-away disks.
  • a symmetrical structure should be understood to mean the same moments of inertia and the same imbalances. However, this is not absolutely necessary, in particular when, for example, the second embodiment or an embodiment with the two electric motors 42 and 44 is used.
  • knowledge of the dimensions of any asymmetry can be advantageous with regard to the regulation, so that precise knowledge of the imbalances 26 and 28 and the inertia are advantageous in order to obtain correct or advantageous setpoint values for the two controllers 88 and, also known as motor controllers 90 to be able to calculate and specify.
  • the alignment of the two unbalances 26 and 28 in their neutral positions is preferably offset by 180 degrees, because then the equation for the resulting force F total is approximately linear and a particularly advantageous force development is obtained. But you can also use other angles and still get a comparable effect. In particular, it would be conceivable to vary the alignment of the two turntables to one another at least essentially continuously.
  • the basic alignment of the unbalances 26 and 28 in the plane can be controlled if the dominant direction of the disturbing force is known. Then an orientation controller is not required to control the Orientation finds itself, but you set the orientation to the setpoint using a simple position controller.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
  • Machine Tool Units (AREA)
EP19166207.1A 2019-03-29 2019-03-29 Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif Withdrawn EP3715050A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19166207.1A EP3715050A1 (fr) 2019-03-29 2019-03-29 Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif
PCT/EP2020/054822 WO2020200587A1 (fr) 2019-03-29 2020-02-25 Dispositif et procédé pour l'amortissement actif d'oscillations d'un élément de machine ainsi que dispositif de machine-outil présentant au moins un tel dispositif

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EP19166207.1A EP3715050A1 (fr) 2019-03-29 2019-03-29 Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif

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EP19166207.1A Withdrawn EP3715050A1 (fr) 2019-03-29 2019-03-29 Dispositif et procédé d'amortissement actif de vibrations d'un élément de machine ainsi que dispositif de machine-outil pourvu d'au moins un tel dispositif

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000035629A1 (fr) * 1998-12-17 2000-06-22 Dentatus Ab Outil a main mecanise pour limage, degrossissage et taches similaires
EP1477870A2 (fr) * 2003-05-13 2004-11-17 Mitutoyo Corporation Amortisseur de vibrations actif pour machines

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2854962B1 (fr) 2003-05-14 2005-08-05 Airbus France Procede et dispositif de pilotage d'un aeronef

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000035629A1 (fr) * 1998-12-17 2000-06-22 Dentatus Ab Outil a main mecanise pour limage, degrossissage et taches similaires
EP1477870A2 (fr) * 2003-05-13 2004-11-17 Mitutoyo Corporation Amortisseur de vibrations actif pour machines

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